JPH0659634B2 - manipulator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator mounted on a space station or the like.

[0002]

2. Description of the Related Art A conventional example of a manipulator for a space station will be explained. In addition to withstanding the space environment such as vacuum and low temperature, in addition to a large manipulator with a long arm to cover a wide working range, detailed work such as inspection and maintenance is required. Conditions such as the need for a high-precision manipulator to perform the operation are required, and it is technically limited to expect high precision for a large-scale manipulator at the same time.Therefore, connect a high-precision small manipulator to the tip of a large-scale manipulator. , The former is for general positioning and the latter is for necessary work, and a parent-child manipulator that meets the former conditions is planned.

The specific mechanism of the parent-child manipulator is as shown in FIG.
a, the mast 3, which has the airlock 2, and the platform 4, in which the mast 3 and the platform 4 are arranged (in a normal environment where humans can operate), in front of the manipulator control unit 1a of the pressure module 1 , The boom 6 (upper arm) base end side of the large-sized manipulators 6 and 7 is connected continuously, and the small manipulator 8 is connected to the arm 7 (lower arm) tip end of the large-sized manipulators 6 and 7 to connect the large manipulator arm 7
It is planned that the tip and the base of the small manipulator 8 can be remotely attached and detached, and the large manipulators can also be used independently to carry out operations such as moving the payload a (load) and unloading the machine by operating the large manipulators 6 and 7 independently. By combining the large and small manipulators 6, 7, and 8, operations such as equipment inspection, assembly, and maintenance can be performed to expand the work area and achieve high-precision work.

The pressurizing module unit 1 equipped with the large and small manipulators 6, 7 and 8 is launched into space by a spies shuttle or the like, and another system is used during launch and when the manipulator is not used in space. The large and small manipulators 6, 7 and 8 must be housed on the side of the pressurizing module 1 so as not to hinder the operation of the manipulator. There are restrictions such as not being present and not occupying the space for placing the payload a on the platform.

As a means for accommodating the large and small manipulators 6, 7, and 8, the methods shown in FIGS. 4 to 7 can be considered. That is, as shown in FIGS. 4 (A) and 4 (B), the boom 6, arm 7 and small manipulator 8 of the large-sized manipulator are straightly extended and supported in the upper portion of the pressurizing module unit 1 and stored. 5 (A) (B)
Boom 6 and arm 7 of the large manipulator as shown in
6 (A) in which the small manipulator 8 is stored in a state in which the small manipulator 8 is supported on the platform 4.
As shown in FIG. 7B, a boom 6 of a large manipulator is horizontally held in front of the manipulator cockpit 1a, and an arm 7 and a small manipulator 8 are stored under the boom 6 in a folded state, FIG. 7A. As shown in (B), there is a method of arranging a boom 6 of a large manipulator along the front side of the manipulator cockpit 1a and obliquely, and storing the arm 7 and the small manipulator 8 on the boom 6 in a folded state.

[0006]

In the conventional manipulator described above, the large and small manipulators 6 shown in FIG. 4 are used.
In the storage methods of 7 and 8, the manipulator itself can be stored well, but the critical dimension of the pressurizing module part 1 stored in the cargo compartment such as the space shuttle is remarkably expanded as shown by the chain line in the figure, and the pressurizing operation is accompanied by it. Since the diameter of the module part 1 is remarkably reduced, the valuable space for human activity (necessary to secure it to the maximum) is reduced, which poses a practical problem. In the method, there is a problem that the arrangement space of the payload a is limited and an obstacle occurs when the airlock 2 is accessed. Further, in the storage method shown in FIG. 6, there is a problem in fixing (clamping) the manipulator, which is particularly necessary at the time of launch, and there is a problem that the forward visibility of the manipulator cockpit 1a is deteriorated, and further shown in FIG. The storage method is such that the front view of the manipulator cockpit 1a is obstructed, the small manipulator 8 is brought close to the airlock 2 along with the arm of the large manipulator, and there is a technical problem in the folding arrangement of the small manipulator 8. All the storage methods have the above-mentioned problems.

The present invention was developed to address the above-mentioned problems, and it is an object of the present invention to enhance the folding storage performance of a small manipulator on a large manipulator.

[0008]

The structure of the present invention for achieving the above object will be described with reference to FIGS. 1 and 2 corresponding to the embodiments. The present invention is the manipulator cockpit 1a of the pressurizing module section 1. The mounting column 10 which is located in the front part of the and which is pivotally operated is mounted, and the boom 6 base end side of the large-sized manipulator is continuously provided on the tip side of the mounting column 10.
It is characterized in that a small-sized manipulator 8 is overhung and connected to the tip side of the arm 7 of the large-sized manipulator via a rotary shaft 11 intersecting the axis of the arm 7.

[0009]

According to the present invention, the lengths of the boom 6 and the arm 7 of the large-sized manipulators 6 and 7 are determined by the above means in consideration of the work space and the operability, and the arm 7 is usually longer. In many cases, when the arm 7 is folded, it projects beyond the boom 6 to cause a problem in storability, but at the tip end of the mounting column 10 that is pivotally operated, the boom 6 base end side of the large manipulators 6 and 7 is attached. As shown by the solid line in FIG. 1, when folded and stored on the front side of the pressurizing module unit 1, the arm 7 is parallel to the mounting column 10 and the boom 6 and has the same length. The folded arm 7 is not protruded above the pressurizing module unit 1, and the mounting column 10 is not shown in FIG.
Can be easily stored in a slanted state by the side of the airlock 2 by swiveling at a predetermined angle, and if the mounting column 10 is swung further to the side to make it horizontal, the view of the manipulator cockpit 1a can be changed. Can be further increased.

Further, when using the manipulator, FIG.
By rotating the mounting column 10 upwards as shown by the chain line, the boom 6 base side of the large-sized manipulators 6 and 7 can be positioned above the manipulator operation chamber 1a, and the mounting column 10 can be rotated by a large amount. The operating range of the small manipulators 6, 7 and 8 can be remarkably expanded, and visibility and work performance can be remarkably improved.

Further, since the small manipulator 8 is connected to the tip of the arm 7 of each of the large manipulators 6 and 7 by being overhung by the rotary shaft 11, the small manipulator 8 is attached to the arm 7 as shown in FIG. It can be folded and stored easily and compactly by securing the desired offset Z, and the large and small manipulators 6, 7 and 8 are also compactly stored together with the folding storage of the arm 7, and the folding storage performance is remarkably enhanced, and the manipulator control as described above is performed. The visibility of the chamber 1a is improved and the airlock 2 is not obstructed at all. Furthermore, since the jigs 13 on the large manipulators 6 and 7 side are arranged on the rear side of the small manipulator 8, the work by the jig 13 of the large manipulator 8 and the work by the small manipulator 8 can be performed at the same time. , Or small manipulator 8
The work performance is remarkably improved, such that the work can be easily attached and detached, and both of the above works can be performed individually.

[0012]

1 and 2, there is shown a first embodiment of the present invention, in which the reference numeral 1 designates a manipulator cockpit 1a, an airlock 2, and a mast 3 and a platform 4 at the front. A pressure module part, said pressurizing module part 1
On the upper part of the front surface of the manipulator cockpit 1a, a mounting column 10 is mounted by a shaft 12 so as to be swung by a proper mechanism as shown by a chain line and a solid line in FIG. The boom 6 base ends of the manipulators 6 and 7 are operably connected continuously, and
Further, a small manipulator 8 is connected to the distal end side of the arm 7 of each of the large-scale manipulators 6 and 7 by overhanging a rotary shaft 11 intersecting at right angles to the axis of the arm 7 as shown in the drawing. A jig 13 such as a tip tool of a large-sized manipulator 6 or 7 or a general-purpose tool is preliminarily attached to the rear side, and the jig 13 and the small manipulator 8 are quickly detached and switched by an appropriate mechanism. The configuration is ready for use.

[0013]

As described above, according to the present invention, the boom 6 base end side of the large-sized manipulators 6 and 7 is connected to the distal end portion of the mounting column 10 which is pivotally operated, and the distal ends of the arms 7 of the large-sized manipulators 6 and 7 are connected. On the side, a small manipulator 8 is connected by overhanging it with a rotating shaft 11, and the mounting column significantly improves the visibility and workability as well as the folding storage performance, and the small manipulator is attached to the tip of the large manipulator. By overhanging on the rotating shaft, the large and small manipulators can be folded and stored with large manipulators, and the workability of the large and small manipulators is significantly improved. There is.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a front view of FIG.

FIG. 3 is a perspective view showing a conventional example.

4A and 4B show respective aspects of folding storage of the large and small manipulators of FIG. 3, and FIG. 4A is a side view and FIG. 4B is a plan view.

5 (A) is a side view and FIG. 5 (B) is a plan view showing the respective folding and storing modes of the large and small manipulators of FIG.

6A and 6B are views showing respective aspects of folding storage of the large and small manipulators of FIG. 3, in which FIG. 6A is a side view and FIG. 6B is a plan view.

7A and 7B show respective aspects of folding storage of the large and small manipulators of FIG. 3, and FIG. 7A is a side view and FIG. 7B is a plan view.

[Explanation of symbols]

 1 Preload module 1a Manipulator cockpit 6 Large manipulator boom 7 Large manipulator arm 8 Small manipulator 10 Mounting column 11 Rotating shaft

Claims (1)

[Claims] 1. A mounting column, which is located in front of a manipulator cockpit of a pressurizing module part and is pivotally operated, is mounted, and a boom base end side of a large-sized manipulator is connected to a tip side of the mounting column. A manipulator, characterized in that a small-sized manipulator is connected to the arm tip side of the large-sized manipulator by overhanging it via a rotary shaft that intersects the axis of the arm.